Work facility

Abstract

To improve efficiency in conveying a work-piece.SOLUTION: A work facility 1 comprises: a conveyance area 10 which includes robots 11 that respectively have arms 13 for supporting work-pieces W and convey the work-pieces W and a running path 16 on which the conveying robots 11 run; a storage area 20, arranged at a position of an end of the running path 16, which stores the work-pieces W conveyed by the conveying robots 11; and a plurality of work areas 30, arranged around the conveyance area 10, which include work robots 32 that perform work to the work-pieces W and on which the robots perform work independently from each other.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The technology disclosed herein relates to work equipment. [Background technology]

[0002] Patent Document 1 discloses a conventional work facility. In the conventional work facility, multiple transport robots are arranged in the transport direction, each of which has a holding unit that holds the transported object and an arm that can drive the transported object together with the holding unit in the transport direction within a horizontal plane. The conventional work facility has a support base that is installed along the transport path and supports the transported object, and the transport robot transports the held transported object by sliding it on the support base and hands over the transported object to another transport robot located downstream in the transport direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4274101 Summary of the Invention [Problem to be solved by the invention]

[0004] To improve the work efficiency of a work facility, it is necessary to improve not only the efficiency of the actual work but also the efficiency of the workpiece transport. Conventional work facilities such as those described in Patent Document 1 are configured to transport workpieces in a linear manner from upstream to downstream, and to perform work on the workpieces sequentially. With such a configuration, when work waits occur, the transport of workpieces is delayed, making it difficult to improve the transport efficiency. [Means for solving the problem]

[0005] The technology disclosed herein relates to a work facility. a transfer area including a transfer robot having an arm for supporting a workpiece and for transferring the workpiece, and a travel path along which the transfer robot travels; A storage area that is arranged at the position of the end of the travel path and stores the workpiece carried by the transfer robot, A plurality of work areas that are arranged around the transfer area, include work robots that perform operations on the workpiece, and perform operations independently of each other, is provided.

Advantages of the Invention

[0006] By arranging the work areas that perform operations independently around the transfer area, the transfer of the workpiece from the storage area to the work area and the transfer between the work areas can be performed by one transfer robot, and the transfer efficiency of the workpiece can be improved.

Brief Description of the Drawings

[0007] [Figure 1] FIG. 1 is a schematic perspective view showing the arrangement of each area in the work equipment according to Embodiment 1. [Figure 2] FIG. 2 is a plan view of the work equipment. [Figure 3] FIG. 3 is a view of the work equipment seen from the storage area side. [Figure 4] FIG. 4 is a plan view showing an example of a pallet used for transfer. [Figure 5] FIG. 5 is a schematic view showing an operation of passing a pallet between a transfer robot and a holding robot. [Figure 6] FIG. 6 is a block diagram showing a control system of the work equipment. [Figure 7] FIG. 7 is a schematic view showing a movement route of a workpiece and a pallet between areas. [Figure 8] FIG. 8 is a plan view showing a modification of the work equipment according to Embodiment 1. [Figure 9] FIG. 9 is a schematic perspective view showing the arrangement of each area in the work equipment according to Embodiment 2. [Figure 10] FIG. 10 is a plan view showing a second transfer area of the work equipment according to Embodiment 2. [Figure 11]FIG. 11 is a view of the work facility according to the second embodiment as seen from the storage area side. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of the work facility will be described with reference to the drawings. The monitoring system described here is an example.

[0009] (Embodiment 1) [Overall structure of work equipment] 1 is a schematic perspective view showing the layout of each area of the work facility 1. The work facility 1 is a facility for performing, for example, assembly work of workpieces W and welding work on the workpieces W. The workpieces W include, for example, devices such as engines, parts that constitute a vehicle body, and computers.

[0010] The front, rear, right, left, top, and bottom of the work equipment 1 are defined as the arrows shown in Figure 1. The front-to-back direction of the work equipment 1 is the direction connecting the front left side of the paper and the back right side of the paper in Figure 1. The front of the work equipment 1 is the front left side of the paper, and the back of the work equipment 1 is the back right side of the paper. The right of the work equipment 1 is the right side of the paper, and the left of the work equipment 1 is the left side of the paper. The top of the work equipment 1 is the top side of the paper, and the left of the work equipment 1 is the bottom side of the paper.

[0011] It should be noted that the above definitions are provided for the purpose of explaining the work equipment 1 and do not limit the actual structure, configuration, and arrangement of the work equipment 1 and the elements included in the work equipment 1 disclosed herein.

[0012] The work equipment 1 has four areas: a transport area 10, a storage area 20, a work area 30, and an unloading area 40. The transport area 10 is an area that extends in the front-to-rear direction. There are multiple storage areas 20 (two in this case). The storage area 20 is located in front of the transport area 10. There are multiple work areas 30 (four in this case). The work areas 30 are arranged on the left and right sides of the transport area 10, with the transport area 10 in between. The unloading area 40 is located behind the transport area 10. Note that the unloading area 40 is not a required element of the work equipment 1.

[0013] The transfer area 10, storage area 20, work area 30, and carry-out area 40 will be described in detail below.

[0014] [Transportation area] The transfer area 10 is an area where the workpieces W are transferred between the storage area 20, the work area 30, and the unloading area 40.

[0015] 2, the transfer area 10 includes two transfer robots 11. One transfer robot 11 is located in the front region of the transfer area 10, and the other transfer robot 11 is located in the rear region of the transfer area 10. The number of transfer robots 11 in the transfer area 10 is not particularly limited.

[0016] As shown in FIG. 3 , the transfer robot 11 is a vertical articulated robot having a base 12, multiple arms 13, and multiple joints 14 connecting the arms 13. The transfer robot 11 rotates horizontally relative to the base 12 by one of the joints 14. The transfer robot 11 has a tool changer 15 at its tip. The transfer robot 11 couples the tool changer 15 to a pallet 60 (described later) and supports the workpiece W together with the pallet 60 by the arm 13. While supporting the workpiece W, the transfer robot 11 receives and transfers the workpiece W together with the pallet 60 by rotating the arm 13 about the joint 14. Note that the transfer robot 11 is not limited to a vertical articulated robot, and any robot having an arm may be used.

[0017] The transfer area 10 includes a running path 16. The running path 16 is a path along which the transfer robot 11 travels. The running path 16 is a rail. The running path 16 extends straight in the front-to-rear direction. The running path 16 is located above the floor surface.

[0018] The transport robot 11 has a wheel mechanism on the base 12 for traveling along a travel path 16. The transport robot 11 moves forward and backward along the travel path 16 by operating the wheel mechanism. In addition to operating the arm 13, the transport robot 11 can also transport the workpiece W by traveling along the travel path 16. The travel path 16 may be a conveyor system.

[0019] [Storage area] As shown in Fig. 2, two storage areas 20 are arranged at the front end of the travel path 16. The storage areas 20 are areas for storing the workpieces W to be transported by the transport robot 11. The storage areas 20 are also areas for distributing the stored workpieces W onto pallets 60. The number of storage areas 20 is not limited to a specific number.

[0020] The two storage areas 20 are located side by side on the left and right. In the following description, the storage area 20 located on the left side may be referred to as the first storage area 20a, and the storage area 20 located on the right side may be referred to as the second storage area 20b. When there is no need to distinguish between the two storage areas 20, they will simply be referred to as storage areas 20.

[0021] The storage area 20 includes a delivery robot 21 that places the workpieces W on the pallet 60. The delivery robot 21 in the first storage area 20a is located to the left of the extension of the travel path 16. The delivery robot 21 in the second storage area 20b is located to the right of the extension of the travel path 16.

[0022] The meal preparation robot 21 is a vertically articulated robot having a plurality of arms and a plurality of joints. The meal preparation robot 21 is fixed to the floor surface. The meal preparation robot 21 has a pickup tool at its tip for grasping the workpiece W.

[0023] The storage area 20 includes a plurality of shelves 22 in which the workpieces W are stored. The plurality of shelves 22 are arranged radially around the meal preparation robot 21. Each shelf 22 is arranged so that the distance from the meal preparation robot 21 is the same. The meal preparation robot 21 selects the workpiece W from the shelf 22 and distributes it to the pallet 60. The workpiece W stored in the shelf 22 of the first storage area 20a and the workpiece W stored in the shelf 22 of the second storage area 20b may be the same or different.

[0024] Between the two storage areas 20, a temporary placement area 23 for temporarily placing the pallet 60 is arranged. The meal preparation robot 21 distributes the workpiece W to the pallet 60 placed in the temporary placement area 23. The front transfer robot 11 transfers the pallet 60 together with the workpiece W from the temporary placement area 23 after the workpiece W has been distributed to the pallet 60 placed in the temporary placement area 23. The temporary placement area 23 may be, for example, a table.

[0025] 〔Working area〕 As shown in FIG. 2, four working areas 30 are arranged around the traveling path 16. The working area 30 is an area for performing work on the workpiece W. Note that the number of the working areas 30 is not limited to a specific number as long as there are two or more.

[0026] The working areas 30 are located on the left and right sides respectively, sandwiching the traveling path 16. On the left side of the traveling path 16, two working areas 30 are arranged in the front-rear direction. Similarly, on the right side of the traveling path 16, two working areas 30 are arranged in the front-rear direction. In the following description, the working area 30 arranged on the left front side is referred to as the first working area 30a, the working area 30 arranged on the right front side is referred to as the second working area 30b, the working area 30 arranged on the left rear side is referred to as the third working area 30c, and the working area 30 arranged on the right rear side is referred to as the fourth working area 30d. When there is no need to distinguish the four working areas 30, they are simply referred to as the working area 30.

[0027] The first working area 30a, the second working area 30b, the third working area 30c, and the fourth working area 30d are independent of each other. There is no conveyance path directly connecting the first working area 30a, the second working area 30b, the third working area 30c, and the fourth working area 30d. The first working area 30a and the third working area 30c are adjacent to each other in the front-rear direction without any means such as a conveyance path and a conveyance robot for conveying the workpiece W between the first working area 30a and the third working area 30c. The second working area 30b and the fourth working area 30d are adjacent to each other in the front-rear direction without any means such as a conveyance path and a conveyance robot for conveying the workpiece W between the second working area 30b and the fourth working area 30d.

[0028] The working area 30 includes two holding robots 31. The holding robot 31 is an articulated vertical robot having a plurality of arms and a plurality of joints. The holding robot 31 has the same configuration as the conveyance robot 11. The holding robot 31 is fixed to the floor surface. In addition to being fixed to the floor surface, the holding robot 31 may be fixed to the ceiling surface or the wall. Also, the holding robot 31 may be capable of traveling without being fixed. As shown in FIG. 3, the holding robot 31 has a tool changer 31a at its tip. The holding robot 31 holds the workpiece W by holding the pallet 60. The two holding robots 31 are arranged in the front-rear direction. Note that the holding robot 31 is not an essential element of the working facility 1.

[0029] As shown in FIG. 2, the work area 30 includes two work robots 32. The work robot 32 is a vertically articulated robot having a plurality of arms and a plurality of joints. The work robot 32 is fixed to the floor surface. Note that, in addition to being fixed to the floor surface, the work robot 32 may be fixed to the ceiling surface or the wall. Further, the work robot 32 may be capable of traveling without being fixed. The work robot 32 has a work tool at its tip. The work tool is a hand, a welding gun, or the like. The work robot 32 performs work on the workpiece W held by the holding robot 31. Specifically, the work robot 32 assembles the workpieces W together or welds the workpiece W. The work robot 32 is located at a position farther from the travel path 16 than the holding robot 31. The two work robots 32 are arranged side by side in the front-rear direction.

[0030] In each of the first work area 30a, the second work area 30b, the third work area 30c, and the fourth work area 30d, the work robot 32 may have the same configuration or different configurations. The work tools of the work robot 32 may be different for each area. Also, the number of work robots 32 in one work area 30 is not limited to a specific number.

[0031] The first work area 30a, the second work area 30b, the third work area 30c, and the fourth work area 30d perform work independently of each other using the workpiece W conveyed by the conveyance robot 11. The work performed in the first work area 30a, the second work area 30b, the third work area 30c, and the fourth work area 30d may be the same work or different work.

[0032] 〔Unloading Area〕 As shown in FIG. 2, the unloading area 40 is arranged at the position of the end (rear end) on the opposite side of the storage area 20 in the travel path 16. The unloading area 40 is an area for unloading the workpiece W for which the work has been completed. Also, the unloading area 40 is an area for storing the empty pallet 60.

[0033] The unloading area 40 includes an unloading path 41. The unloading path 41 unloads the workpiece W.

[0034] The unloading area 40 has a pallet area 42 for storing the empty pallet 60. After the unloading of the workpiece W is completed, the transfer robot 11 moves the empty pallet 60 to the pallet area 42. The transfer robot 11 receives the empty pallet 60 from the pallet area 42 and transfers it to the storage area 20.

[0035] 〔Pallet〕 The pallet 60 is a member for transporting the workpiece W. The pallet 60 is not an essential element for the working facility 1.

[0036] As shown in FIG. 4, the pallet 60 has, for example, a plate-shaped main body 600. The main body 600 in the illustrated example has an elongated shape. The pallet 60 has a first connector 611 and a second connector 612. The first connector 611 is located at the first end of the main body 600. The second connector 612 is located at the second end of the main body 600. The second end is the end on the side opposite to the first end in the elongated main body 600. The first connector 611 and the second connector 612 face upward.

[0037] The first connector 611 and the second connector 612 are the parts where the tool changer 15 of the transfer robot 11 and the tool changer 31a of the holding robot 31 are coupled. The tool changer 15 and the tool changer 31a are coupled to and decoupled from the connectors 611, 612 in the vertical direction. The connectors 611, 612 and the tool changers 15, 31a can be diverted from general-purpose connectors and tool changers. The pallet 60 is provided with a first region R1 for arranging the object M which is the object to which the part P of the workpiece W is to be attached, and a second region R2 for arranging the part P of the workpiece W. The pallet 60 in the illustrated example is supported by the transfer robot 11 or the holding robot 31 in a posture where the main body 600 extends in the horizontal direction, as will be described later. The first region R1 and the second region R2 arrange the object M or the part P on the upper surface of the main body 600. In FIG. 4, the pallet 60 holds one object M and two parts P. The number of the object M and the parts P held by the pallet 60 is not limited to a specific number.

[0038] When the arm 13 of the transfer robot 11 operates or the transfer robot 11 travels on the travel path 16 with the tool changer 15 of the transfer robot 11 coupled to the first connector 611 or the second connector 612, the workpiece W arranged on the pallet 60 is transported together with the pallet 60. When the tool changer 15 of the transfer robot 11 releases the coupling with the first connector 611 or the second connector 612, the coupling between the pallet 60 and the transfer robot 11 is released.

[0039] As shown in Fig. 5, when the pallet 60 is transferred from the transfer robot 11 to the holding robot 31, first, the tool changer 15 of the transfer robot 11 is coupled to the first connector 611, and the tool changer 31a of the holding robot 31 is coupled to the second connector 612. Next, the coupling between the tool changer 15 of the transfer robot 11 and the first connector 611 is released, so that the pallet 60 is coupled only to the holding robot 31. Thus, the pallet 60 is transferred from the transfer robot 11 to the holding robot 31. When the pallet 60 is transferred from the holding robot 31 to the transfer robot 11, the holding robot 31 releases the coupling with the second connector 612, contrary to the above. When the pallet 60 is transferred between the two transfer robots 11, one transfer robot 11 and the other transfer robot 11 perform the same operation as described above.

[0040] In the work area 30, when the two holding robots 31 hold the workpiece W, the tool changer 31a of one holding robot 31 is coupled to the first connector 611, and the tool changer 31a of the other holding robot 31 is coupled to the second connector 612. The two holding robots 31 hold the workpiece W together with the pallet 60 by coupling with the pallet 60.

[0041] In the work area 30, when the two holding robots 31 hold the pallet 60, the pallet 60 itself serves as a workbench. While the work robot 32 shown virtually in Fig. 5 is working on the workpiece W, the two holding robots 31 support the pallet 60 holding the workpiece W. After the parts P in the second region R2 are assembled to the object M in the first region R1 by the work robot 32, the pallet 60 holds the object M with the parts P assembled thereto in the first region R1.

[0042] 〔Control of Work Equipment〕 6 is a block diagram showing the control relationship of the work equipment 1. The work equipment 1 is equipped with an equipment controller 70. Note that the equipment controller 70 is not an essential element of the work equipment 1. The equipment controller 70 controls the work equipment 1 as a whole.

[0043] The working equipment 1 includes a transfer robot controller 71. Note that the transfer robot controller 71 is not an essential element of the working equipment 1. The transfer robot controller 71 is electrically connected to the equipment controller 70. The electrical connection includes a wired or wireless connection. The transfer robot controller 71 is also electrically connected to the transfer robot 11. The transfer robot controller 71 and the transfer robot 11 are connected one-to-one. Although only one transfer robot controller 71 is shown in FIG. 6, the working equipment 1 includes the same number of transfer robot controllers 71 as the number of transfer robots 11 (here, two).

[0044] The transfer robot controller 71 controls the transfer robot 11. More specifically, the transfer robot controller 71 receives a control signal from the equipment controller 70 and outputs a control signal to the transfer robot 11. The transfer robot 11 receives the control signal from the transfer robot controller 71 and transfers the pallet 60 and the workpiece W.

[0045] The work equipment 1 is equipped with a food delivery robot controller 72. Note that the food delivery robot controller 72 is not an essential element of the work equipment 1. The food delivery robot controller 72 is electrically connected to the equipment controller 70. The electrical connection may be wired or wireless. The food delivery robot controller 72 is also electrically connected to the food delivery robot 21. The food delivery robot controller 72 and the food delivery robot 21 are connected in a one-to-one relationship. Although only one food delivery robot controller 72 is shown in FIG. 6, the work equipment 1 is equipped with the same number of food delivery robot controllers 72 as the number of food delivery robots 21 (here, two).

[0046] The meal preparation robot controller 72 controls the meal preparation robot 21. More specifically, the meal preparation robot controller 72 receives a control signal from the facility controller 70 and outputs a control signal to the meal preparation robot 21. The meal preparation robot 21 receives a control signal from the meal preparation robot controller 72, picks up the workpiece W from the shelf 22, and distributes it to the pallet 60.

[0047] The working facility 1 includes a holding robot controller 73. Note that the holding robot controller 73 is not an essential element of the working facility 1. The holding robot controller 73 is electrically connected to the facility controller 70. The electrical connection includes a wired or wireless connection. The holding robot controller 73 is also electrically connected to the holding robot 31. The holding robot controller 73 and the holding robot 31 are connected one-to-one. In FIG. 6, only one holding robot controller 73 is shown, but the working facility 1 includes the same number (here, eight) of holding robot controllers 73 as the holding robots 31.

[0048] The holding robot controller 73 controls the holding robot 31. More specifically, the holding robot controller 73 receives a control signal from the facility controller 70 and outputs a control signal to the holding robot 31. The holding robot 31 receives a control signal from the holding robot controller 73, receives the pallet 60 from the transfer robot 11, and holds the workpiece W together with the pallet 60.

[0049] The work equipment 1 is equipped with a work robot controller 74. Note that the work robot controller 74 is not an essential element of the work equipment 1. The work robot controller 74 is electrically connected to the equipment controller 70. The electrical connection includes a wired or wireless connection. The work robot controller 74 is also electrically connected to the work robot 32. The work robot controller 74 and the work robot 32 are connected in a one-to-one relationship. Although only one work robot controller 74 is shown in FIG. 6, the work equipment 1 is equipped with the same number of work robot controllers 74 as the number of work robots 32 (eight in this case).

[0050] The work robot controller 74 controls the work robot 32. More specifically, the work robot controller 74 receives control signals from the equipment controller 70 and outputs control signals to the work robot 32. The work robot 32 receives the control signals from the work robot controller 74 and performs work on the workpiece W.

[0051] The equipment controller 70 is electrically connected to the discharge path 41. The electrical connection includes a wired or wireless connection. The equipment controller 70 controls the discharge path 41. The discharge path 41 operates in response to a control signal from the equipment controller 70.

[0052] The work equipment 1 is equipped with sensors 75. The sensors 75 are electrically connected to the equipment controller 70. The sensors 75 include cameras provided in the transfer robot 11, the serving robot 21, the holding robot 31, and the work robot 32. The cameras detect the positions of the pallet 60, the workpiece W, etc.

[0053] [Transportation route] Next, the transfer route of the transfer robot 11 will be described with reference to Fig. 7. In Fig. 7, the dashed arrows indicate the transfer route of an empty pallet 60. In Fig. 7, the solid arrows indicate the transfer route of a workpiece W, more specifically, the transfer route of a pallet 60 on which a workpiece W is placed.

[0054] The empty pallet 60 is received by the rear transport robot 11 from the carry-out area 40. The rear transport robot 11 hands the empty pallet 60 to the front transport robot 11. The front transport robot 11 places the empty pallet 60 in the temporary storage area 23.

[0055] The workpieces W are distributed onto pallets 60 in the temporary storage area 23 by the distribution robot 21. The front transport robot 11 transports the workpieces W between the temporary storage area 23, the first work area 30a, the second work area 30b, the third work area 30c, the fourth work area 30d, and the rear transport robot 11. The rear transport robot 11 transports the workpieces W between the front transport robot 11, the first work area 30a, the second work area 30b, the third work area 30c, the fourth work area 30d, and the unloading area 40.

[0056] The transport route of the workpiece W from the temporary storage area 23 varies depending on the number of steps in the work. Below, the transport routes will be explained for cases where the number of steps is four, three, two, and one. In the following explanation, it is assumed that the workpiece W is placed on a pallet 60. Furthermore, "extending the arm 13" means rotating the arm 13 around the joint 14 and moving the tip away from the base 12.

[0057] <In the case of 4 processes> In the case of four processes, the transport route is a route for moving the workpieces W in the following order: temporary storage area 23 → first work area 30a → second work area 30b → third work area 30c → fourth work area 30d → carry-out area 40. In the case of four processes, different operations are performed in the first work area 30a, second work area 30b, third work area 30c, and fourth work area 30d.

[0058] The front transfer robot 11 travels toward the storage area 20, then extends its arm 13 to the temporary storage area 23, and receives the workpiece W from the temporary storage area 23. The front transfer robot 11 travels to the position of the first working area 30a as necessary, then extends its arm 13 to the first working area 30a, and hands over the workpiece W to the holding robot 31.

[0059] After completing work in the first work area 30a, the front transfer robot 11 extends its arm 13 into the first work area 30a and receives the workpiece W from the holding robot 31. After turning horizontally toward the second work area 30b, the front transfer robot 11 extends its arm 13 into the second work area 30b and hands over the workpiece W to the holding robot 31.

[0060] After completing the work in the second work area 30b, the front transfer robot 11 extends the arm 13 into the second work area 30b and receives the workpiece W from the holding robot 31. The front transfer robot 11 turns horizontally and then hands over the workpiece W to the rear transfer robot 11.

[0061] The rear transfer robot 11 travels to a position in the third working area 30c as necessary, and then extends its arm 13 into the third working area 30c to hand over the workpiece W to the holding robot 31. Note that the front transfer robot 11 that receives the workpiece W from the holding robot 31 in the second working area 30b may hand over the workpiece W to the holding robot 31 in the third working area 30c. Alternatively, the rear transfer robot 11 may receive the workpiece W from the holding robot 31 in the second working area 30b and hand over the workpiece W to the holding robot 31 in the third working area 30c.

[0062] After completing work in the third working area 30c, the rear transfer robot 11 extends its arm 13 to the third working area 30c and receives the workpiece W from the holding robot 31. After turning horizontally toward the fourth working area 30d, the rear transfer robot 11 extends its arm 13 to the fourth working area 30d and hands over the workpiece W to the holding robot 31.

[0063] After completing work in the fourth working area 30d, the rear transfer robot 11 extends its arm 13 to the fourth working area 30d and receives the workpiece W from the holding robot 31. The rear transfer robot 11 travels toward the unloading area 40, and then extends its arm 13 to the unloading path 41 to unload the workpiece W. After completing unloading of the workpiece W, the rear transfer robot 11 places the empty pallet 60 in the pallet area 42. In addition, the rear transfer robot 11 returns the empty pallet 60 to the storage area 20 via the front transfer robot 11.

[0064] The transfer robot 11 repeats the above-described operation. In reality, after transferring the workpiece W from the first working area 30a to the second working area 30b, the transfer robot 11 transfers a new workpiece W from the storage area 20 to the first working area 30a.

[0065] In the four steps, the order in which the pallets 60 are moved can be reversed from the temporary storage area 23 → first work area 30a → second work area 30b → third work area 30c → fourth work area 30d → carry-out area 40.

[0066] <In the case of three processes> In the case of a three-process operation, as an example, the transfer route moves the workpiece W in the order of the temporary storage area 23 → the first working area 30a → the second working area 30b → the third working area 30c → the unloading area 40, or in the order of the temporary storage area 23 → the first working area 30a → the second working area 30b → the fourth working area 30d → the unloading area 40. The first working area 30a, the second working area 30b, and the third working area 30c perform different operations from each other. The third working area 30c and the fourth working area 30d perform the same operation.

[0067] After traveling toward the storage area 20, the front transfer robot 11 extends the arm 13 to the temporary storage area 23 and receives the workpiece W from the temporary storage area 23. The front transfer robot 11 travels to the position of the first working area 30a as necessary, and then extends the arm 13 to the first working area 30a and passes the workpiece W to the holding robot 31.

[0068] After the operation in the first working area 30a is completed, the front transfer robot 11 extends the arm 13 to the first working area 30a and receives the workpiece W from the holding robot 31. After the front transfer robot 11 turns horizontally toward the second working area 30b, it extends the arm 13 to the second working area 30b and passes the workpiece W to the holding robot 31.

[0069] After the operation in the second working area 30b is completed, the front transfer robot 11 extends the arm 13 to the second working area 30b and receives the workpiece W from the holding robot 31. After turning horizontally, the front transfer robot 11 passes the workpiece W to the rear transfer robot 11.

[0070] The rear transfer robot 11 travels to the third working area 30c and the fourth working area 30d as necessary, and then extends its arm 13 to either the third working area 30c or the fourth working area 30d to hand over the workpiece W to the holding robot 31 in either the working area 30. The rear transfer robot 11 hands over the workpiece W to the holding robot 31 in either the third working area 30c or the fourth working area 30d, whichever working area 30 is not currently working in. Note that the front transfer robot 11 that receives the workpiece W from the holding robot 31 in the second working area 30b may hand over the workpiece W to the holding robot 31 in the third working area 30c or the fourth working area 30d. Alternatively, the rear transfer robot 11 may receive the workpiece W from the holding robot 31 in the second working area 30b and hand over the workpiece W to the holding robot 31 in the third working area 30c or the fourth working area 30d.

[0071] After completing work in the third working area 30c or the fourth working area 30d, the rear transfer robot 11 extends its arm 13 to the third working area 30c or the fourth working area 30d to receive the workpiece W from the holding robot 31. The rear transfer robot 11 travels toward the unloading area 40, and then extends its arm 13 to the unloading path 41 to unload the workpiece W. After completing the unloading of the workpiece W, the rear transfer robot 11 places the empty pallet 60 in the pallet area 42. In addition, the rear transfer robot 11 returns the empty pallet 60 to the storage area 20 via the front transfer robot 11.

[0072] The transfer robot 11 repeats the above-described operation. In reality, after transferring the workpiece W from the first working area 30a to the second working area 30b, the transfer robot 11 transfers a new workpiece W from the storage area 20 to the first working area 30a.

[0073] Note that, in the case of three processes, the transport route may be a route that moves the pallet 60 in the order of the temporary storage area 23 → the first work area 30a → the third work area 30c → the fourth work area 30d → the unloading area 40, or in the order of the temporary storage area 23 → the second work area 30b → the third work area 30c → the fourth work area 30d → the unloading area 40.

[0074] <In the case of two processes> In the case of two processes, as an example, the workpiece W is transported by two transport routes. One route is a route that moves in the order of the temporary storage area 23 → the first work area 30a → the third work area 30c → the unloading area 40. The other route is a route that moves in the order of the temporary storage area 23 → the second work area 30b → the fourth work area 30d → the unloading area 40. The first work area 30a and the second work area 30b perform the same operation. The third work area 30c and the fourth work area 30d perform the same operation. The first work area 30a and the third work area 30c perform different operations. The second work area 30b and the fourth work area 30d perform different operations.

[0075] After traveling toward the storage area 20, the front transport robot 11 extends the arm 13 to the temporary storage area 23 and receives the workpiece W from the temporary storage area 23. After traveling to the position of the first work area 30a as needed, the front transport robot 11 extends the arm 13 to the first work area 30a and delivers the workpiece W to the holding robot 31. The front transport robot 11 also delivers the workpiece W to the holding robot 31 in the second work area 30b in the same manner as described above.

[0076] After the work in the first work area 30a is completed, the front transfer robot 11 extends the arm 13 into the first work area 30a to receive the workpiece W from the holding robot 31. After rotating horizontally, the front transfer robot 11 passes the workpiece W to the rear transfer robot 11. The rear transfer robot 11 travels to the position of the third work area 30c as necessary, and then extends the arm 13 into the third work area 30c to pass the workpiece W to the holding robot 31. After the work in the second work area 30b is completed, the front transfer robot 11 also receives the workpiece W from the holding robot 31 in the second work area 30b in the same manner as described above and passes the workpiece W to the rear transfer robot 11. The rear transfer robot 11 also passes the workpiece W to the holding robot 31 in the fourth work area 30d in the same manner as described above. Note that the front transfer robot 11 that has received the workpiece W from the holding robot 31 in the first work area 30a may pass the workpiece W to the holding robot 31 in the third work area 30c. Also, the front transfer robot 11 that has received the workpiece W from the holding robot 31 in the second work area 30b may pass the pallet 60 to the holding robot 31 in the fourth work area 30d. Further, the rear transfer robot 11 may receive the workpiece W from the holding robot 31 in the first work area 30a and pass the workpiece W to the holding robot 31 in the third work area 30c. The rear transfer robot 11 may receive the workpiece W from the holding robot 31 in the second work area 30b and pass the workpiece W to the holding robot 31 in the fourth work area 30d.

[0077] After completing work in the third working area 30c, the rear transfer robot 11 extends its arm 13 into the third working area 30c and receives the workpiece W from the holding robot 31. The rear transfer robot 11 travels toward the unloading area 40, then extends its arm 13 into the unloading path 41 and unloads the workpiece W. After completing unloading of the workpiece W, the rear transfer robot 11 places the empty pallet 60 in the pallet area 42. After completing work in the fourth working area 30d, the rear transfer robot 11 also receives the workpiece W from the holding robot 31 in the fourth working area 30d and unloads the workpiece W in the same manner as described above. The rear transfer robot 11 also returns the empty pallet 60 to the storage area 20 via the front transfer robot 11.

[0078] The transfer robot 11 repeats the above-described operations. In reality, after transferring the workpiece W from the first working area 30a to the third working area 30c, the transfer robot 11 transfers a new workpiece W from the storage area 20 to the first working area 30a. The transfer robot 11 similarly transfers a new workpiece W to the second working area 30b.

[0079] In the case of two processes, by dividing the transport route into two as mentioned above, two of the same tasks can be carried out simultaneously.

[0080] Depending on the progress of work in the third working area 30c and the fourth working area 30d, the transport robot 11 may transfer the workpiece W for which work in the first working area 30a has been completed to the holding robot 31 in the fourth working area 30d, or may transfer the workpiece W for which work in the second working area 30b has been completed to the holding robot 31 in the third working area 30c.

[0081] <For one process> In the case of Project 1, the workpiece W is conveyed through four conveyance routes. Each route is a route that moves in the order of the temporary storage area 23 → each work area 30 → the unloading area 40. The first work area 30a, the second work area 30b, the third work area 30c, and the fourth work area 30d perform the same work.

[0082] The front transfer robot 11 travels toward the storage area 20, then extends the arm 13 to the temporary storage area 23, and receives the workpiece W from the temporary storage area 23. The front transfer robot 11 travels to the position of the first work area 30a as needed, then extends the arm 13 to the first work area 30a, and delivers the workpiece W to the holding robot 31. The front transfer robot 11 also delivers the workpiece W to the holding robot 31 in the second work area 30b in the same manner as described above.

[0083] The front transfer robot 11 also receives the workpiece W from the temporary storage area 23 in the same manner as described above and delivers it to the rear transfer robot 11. The rear transfer robot 11 travels to the position of the third work area 30c as needed, then extends the arm 13 to the third work area 30c, and delivers the workpiece W to the holding robot 31. The front transfer robot 11 and the rear transfer robot also deliver the workpiece W to the holding robot 31 in the fourth work area 30d in the same manner as described above. Note that the front transfer robot 11 may directly deliver the workpiece W to the holding robot 31 in the third work area 30c or the fourth work area 30d.

[0084] After completing work in the first work area 30a, the front transfer robot 11 extends its arm 13 into the first work area 30a to receive the workpiece W from the holding robot 31. The front transfer robot 11 rotates horizontally and then hands over the workpiece W to the rear transfer robot 11. The rear transfer robot 11 travels toward the unloading area 40 and then extends its arm 13 into the unloading path 41 to unload the workpiece W. After completing unloading of the workpiece W, the rear transfer robot 11 places the empty pallet 60 in the pallet area 42. In addition, the rear transfer robot 11 returns the empty pallet 60 to the storage area 20 via the front transfer robot 11. After completing work in the second work area 30b, the front transfer robot 11 and the rear transfer robot also receive the workpiece W from the holding robot 31 in the second work area 30b and unload the workpiece W in the same manner as described above. The rear transfer robot 11 may directly receive the pallet 60 from the holding robot 31 in the first work area 30a or the second work area 30b and carry the pallet 60 out to the carry-out area 40.

[0085] After completing work in the third working area 30c, the rear transfer robot 11 extends its arm 13 into the third working area 30c and receives the workpiece W from the holding robot 31. The rear transfer robot 11 travels toward the unloading area 40, then extends its arm 13 into the unloading path 41 and carries out the workpiece W. After completing the unloading of the workpiece W, the rear transfer robot 11 places the empty pallet 60 in the pallet area 42. The rear transfer robot 11 also returns the empty pallet 60 to the storage area 20 via the front transfer robot 11. After completing work in the fourth working area 30d, the rear transfer robot 11 also receives the workpiece W from the holding robot 31 in the fourth working area 30d and carries out the workpiece W in the same manner as described above.

[0086] The transfer robot 11 repeats the above-described operations. In practice, after the transfer robot 11 carries out the workpiece W from the first work area 30a, it transfers a new workpiece W from the storage area 20 to the first work area 30a. The transfer robot 11 similarly transfers a new workpiece W to the second work area 30b, the third work area 30c, and the fourth work area 30d.

[0087] In the case of one process, by dividing the transfer route into four as described above, the same operations can be carried out simultaneously in four.

[0088] 〔Operational Effects of Embodiment 1〕 In the working equipment 1, the storage area 20 is arranged at the end position of the transfer area 10, and a plurality of working areas 30 that operate independently are arranged around the transfer area 10. The working equipment 1 can move the workpiece W from the storage area 20 to the working area 30 and also move it between the working areas 30 by the transfer robot 11 in the transfer area 10. Since the working equipment 1 has a layout in which one transfer robot 11 can transfer the workpiece W across a plurality of areas, the transfer efficiency of the workpiece W can be improved. Further, since the transfer robot 11 travels on the travel path 16, the number of transfer robots 11 can be minimized.

[0089] In the working equipment 1, the transfer robot 11 transfers the pallet 60 on which the workpiece W is placed, and the storage area 20 includes a feeding robot 21 that places the workpiece W on the pallet 60. In addition to the transfer robot 11 transferring the pallet 60, since the feeding of the workpiece W is carried out by the feeding robot 21, the operation of the transfer robot 11 is less likely to be affected by the shape of the workpiece W. Since the operation of the transfer robot 11 can be simplified, the transfer efficiency of the workpiece W can be improved. Further, since the transfer robot 11 can transfer the workpiece W together with the pallet 60 at once, the transfer efficiency can be improved.

[0090] In the work facility 1, the unloading area 40 is located at the end of the travel path 16 opposite to the storage area 20. Because the storage area 20, work area 30, and unloading area 40 are lined up in order along the travel path 16, it is possible to reduce the reciprocating movement of the transfer robot 11 on the travel path 16. Because the movement of the transfer robot 11 can be simplified, it is possible to improve the efficiency of transferring the workpieces W.

[0091] In the work equipment 1, the work area 30 further includes a holding robot 31 that holds the workpiece W together with the pallet 60. The transport robot 11 receives the pallet 60 from the storage area 20 and hands it over to the holding robot 31. The work equipment 1 is configured so that the pallet 60 is handed over between robots rather than placed on a workbench, making misalignment of the pallet 60 less of a problem. This makes it possible to efficiently transport the pallet 60 from the transfer area 10 to the work area 30. Furthermore, when the holding robot 31 holds the pallet 60, the pallet 60 can be used as a workbench. Since no space is required to install a workbench, the work area 30 can be made compact.

[0092] In the work facility 1, multiple work areas 30 are arranged on either side of the travel path 16. Since the reciprocating movement of the transfer robot 11 on the travel path 16 is reduced, the operation of the transfer robot 11 can be simplified, and the transfer efficiency of the workpieces W can be improved.

[0093] [Modification of the first embodiment] 8 shows a modified example of the arrangement of the transport area 10, the work area 30, and the unloading area 40 of the work equipment 1. The travel path 16 of the transport area 10 is L-shaped in a plan view. In the example shown in FIG. 8, a portion of the travel path 16 extends in the front-to-rear direction, and the remainder of the travel path 16 extends in the left-to-right direction. The front transport robot 11 is arranged in the portion of the travel path 16, and the rear transport robot 11 is arranged in the remainder of the travel path 16.

[0094] The storage area 20 is arranged at the front end position of the traveling path 16. The unloading area 40 is arranged at the right end of the traveling path 16.

[0095] Three working areas 30 are arranged. The three working areas 30 are arranged so as to sandwich the part of the traveling path 16 in the left - right direction and sandwich the remaining part of the traveling path 16 in the front - rear direction.

[0096] The working equipment 1 of the modified example can be arranged even in an area where it is difficult to arrange the conveying area 10, the storage area 20, and the unloading area 40 in a straight line, such as an area at the end of the factory. The degree of freedom in the layout of the working equipment 1 can be improved.

[0097] [Another Modified Example of Embodiment 1] The working area 30 may perform operations other than welding operations on the workpiece W and assembly operations between workpieces W. For example, the working area 30 may perform packaging operations on the workpiece W.

[0098] The transfer robot 11 may be configured to grip and transfer at least one of the workpieces W by hand without using the pallet 60.

[0099] (Embodiment 2) Hereinafter, Embodiment 2 will be described in detail with reference to the drawings. In the following description, parts common to Embodiment 1 are denoted by the same reference numerals, and detailed descriptions thereof are omitted.

[0100] FIG. 9 shows the working equipment 201 of Embodiment 2. The working equipment 201 includes a first transfer area 210 and a second transfer area 250. The first transfer area 210 has the same configuration as the transfer area 10 of Embodiment 1. The configurations of the storage area 20, the working area 30, and the unloading area 40 are the same as the configurations of the storage area 20, the working area 30, and the unloading area 40 in Embodiment 1 described above.

[0101] The second transfer area 250 is an area for transferring large workpieces W such as automobile door frames. The second transfer area 250 is arranged above the first transfer area 210, the storage area 20, the work area 30, and the unloading area 40. The workpiece W transferred by the second transfer area 250 is an object M to which the parts P are attached.

[0102] The work facility 201 is provided with two second transfer areas 250. One of the second transfer areas 250 is arranged above the first work area 30a and the third work area 30c. The other of the second transfer areas 250 is arranged above the second work area 30b and the fourth work area 30d.

[0103] As shown in FIG. 10, the second transfer area 250 includes a second transfer robot 251. As shown in FIG. 11, the second transfer robot 251 is an articulated robot having a base 252, a plurality of arms 253, and a plurality of joints 254 connecting between the arms 253. The second transfer robot 251 pivots horizontally with respect to the base 252 by one of the joints 254. The second transfer robot 251 has a tool changer 255 at its tip. The second transfer robot 251 supports the workpiece W together with the first pallet 261 by coupling the tool changer 255 to the first pallet 261. The second transfer robot 251 receives or transfers the workpiece W together with the first pallet 261 by rotating the arm 253 about the joint 254 while supporting the workpiece W. The second transfer robot 251 is a larger robot than the transfer robot 11 arranged in the first transfer area 210.

[0104] The second transfer robot 251 extends the arm 253 from top to bottom to receive the first pallet 261 on which the workpiece W is arranged from the storage area 20 or a supply area of the workpiece W separate from the storage area. The second transfer robot 251 extends the arm 253 to position the workpiece W together with the first pallet 261 in the work area 30. The second transfer robot 251 holds the workpiece W within the work area 30.

[0105] As shown in FIG. 11 , the second transfer area 250 includes a platform 257 and a second running path 256. The platform 257 is fixed to a wall or suspended from the ceiling. The platform 257 extends in the front-to-rear direction. The second running path 256 is a path along which the second transfer robot 251 travels. The second running path 256 is a rail. The second running path 256 extends in the front-to-rear direction along the longitudinal direction of the platform 257.

[0106] The second transport robot 251 has a wheel mechanism on the base 252 for traveling on the second travel path 256. The second transport robot 251 moves in the front-to-rear direction along the second travel path 256 by operating the wheel mechanism.

[0107] In the second embodiment, the first transfer area 210 transfers workpieces W corresponding to parts attached to a large workpiece W. The parts are placed on a second pallet 262 separate from the first pallet 261 in the storage area 20. The transfer robot 211 receives the second pallet 262 from the storage area 20 and transfers it to the work area 30. The shape of the second pallet 262 may be the same as or different from the shape of the first pallet 261.

[0108] In the second embodiment, the holding robot 31 in the work area 30 receives the second pallet 262 from the transport robot 211. The holding robot 31 holds the parts together with the second pallet 262. The working robot 32 attaches the parts to the workpiece W held by the second transport robot 251.

[0109] [Effects of the Second Embodiment] The work equipment 201 has an arm 253 that supports an object M to which parts are to be attached, and includes a second transfer robot 251 that transfers the object M between a storage area 20 and a work area 30, and is provided with a second transfer area 250 located above the first transfer area 210. The transfer robot 211 in the first transfer area 210 transfers parts between the storage area 20 and the work area 30. The work equipment 201 can transfer the object M and the parts P separately in the first transfer area 210 and the second transfer area 250. Even when the object M is large and the transfer robot 11 alone cannot transfer the object M and the parts P simultaneously, the work equipment 201 can transfer the object M and the parts P simultaneously by the transfer robot 211 and the second transfer robot 251. The work equipment 201 can improve the transfer efficiency of the workpiece W.

[0110] Since the work equipment 201 includes a second travel path 256 along which the second transfer robot 251 travels in the second transfer area 250, the transfer efficiency of the workpiece W can be improved.

[0111] [Modification of Embodiment 2] In the work equipment 201, a holding robot 31 was arranged in the work area 30. The holding robot 31 may be omitted. In this case, the transfer robot 11 holds the parts.

[0112] In the work area 30, an operation of attaching the parts P to the object M was being performed. The operation performed in the work area 30 may be other operations. For example, the work area 30 may perform an operation of welding the workpiece W.

[0113] (Aspect) The above embodiments are specific examples of the following aspects.

[0114] (Aspect 1) A transfer area (10, 210) including a transfer robot (11) that has an arm (13) for supporting a workpiece (W) and transfers the workpiece (W), and a travel path (16) along which the transfer robot (11) travels, a storage area (20) disposed at an end of the travel path (16) for storing the workpiece (W) to be transported by the transport robot (11); A work facility (1, 201) is arranged around a transport area (10, 210), includes a work robot (32) that performs work on a workpiece (W), and includes a plurality of work areas (30) that perform work independently of each other using the workpiece (W).

[0115] The work facility (1, 201) allows a single transfer robot (11) to transfer workpieces (W) from the storage area (20) to the work area (30) and between the work areas (30). The work facility (1, 202) has a layout that allows a single transfer robot (11) to transfer workpieces (W) across multiple areas, thereby improving the efficiency of workpiece (W) transfer. Furthermore, because the transfer robot (11) travels on the travel path (16), the number of transfer robots (11) can be minimized.

[0116] (Aspect 2) The transfer robot (11) transfers a pallet (60, 262) on which a workpiece (W) is placed, The storage area (20) includes a work facility (1, 201) including a serving robot (21) that places workpieces (W) on pallets (60, 262).

[0117] In the work facility (1, 201), the transfer robot (11) transfers the pallets (60, 262), and the distribution robot (21) distributes the workpieces (W), so the operation of the transfer robot (11) is less affected by the shape of the workpieces (W). Since the operation of the transfer robot (11) can be simplified, the efficiency of transporting the workpieces (W) can be improved.

[0118] (Aspect 3) The work equipment (1, 201) is arranged at the end of the travel path (16) opposite the storage area (20), and further includes an unloading area (40) for unloading workpieces (W) for which work has been completed.

[0119] Since the storage area (20), the work area (30), and the unloading area (40) of the work equipment (1, 201) are arranged in order along the traveling path (16), the reciprocating motion of the transfer robot (11) on the traveling path (16) can be reduced. Since the operation of the transfer robot (11) can be simplified, the transfer efficiency of the workpiece (W) can be improved.

[0120] (Aspect 4) The work area (30) further includes a holding robot (31) that holds the workpiece (W) together with the pallet (60, 262). The transfer robot (11) is a work equipment (1, 201) that receives the pallet (60, 262) from the storage area (20) and transfers it to the holding robot (31).

[0121] Since the work equipment (1, 201) is configured to transfer the pallet (60, 262) between robots instead of placing the pallet (60, 262) on the workbench, misalignment of the pallet (60, 262) is less likely to be a problem. The transfer of the pallet (60, 262) from the transfer area (10, 210) to the work area (30) can be made more efficient.

[0122] (Aspect 5) The plurality of work areas (30) are work equipment (1, 201) arranged with the traveling path (16) in between.

[0123] Since the reciprocating motion of the transfer robot (11) on the traveling path (16) of the work equipment (1, 201) is reduced, the operation of the transfer robot (11) can be simplified, and the transfer efficiency of the workpiece (W) can be improved.

[0124] (Aspect 6) The workpiece (W) includes a part (P) and an object (M) to which the part (P) is to be attached. the system further comprises a second transport area (250) located above the transport area (210), the second transport robot (251) having an arm (253) for supporting the object (M) and transporting the object (M) between the storage area (20) and the working area (30); The transport robot (211) is a work facility (201) that transports parts (P) between the storage area (20) and the work area (30).

[0125] The work equipment (201) can transport the object (M) and the part (P) separately between the transport area (210) and the second transport area (250). Even if the object (M) is large and the transport robot (11) alone cannot transport the object (M) and the part (P) simultaneously, the work equipment (201) can transport the object (M) and the part (P) simultaneously using the transport robot (11) and the second transport robot (251). The work equipment (201) can improve the transport efficiency of the workpiece (W).

[0126] (Aspect 7) The second transfer area (250) is a work facility (201) that further includes a second travel path (256) along which a second transfer robot (251) travels.

[0127] The working facility (201) can move the second transport robot (251) itself along the second travel path (256), thereby improving the efficiency of transporting the workpieces (W). [Explanation of symbols]

[0128] 1. Work equipment 10. Transport Area 11 Transport robot 13 Arm 16 Running Track 20 Storage Area 21 Food Delivery Robot 30 working areas 31 Holding Robot 32 Work robot 40 Unloading Area 60 pallets 201 Work Equipment 250 Second transport area 251 Second Transport Robot 253 Arm 256 Second Running Track W Workpiece

Claims

1. A transport area including a transport robot having an arm for supporting a workpiece and transporting the workpiece, and a travel path on which the transport robot travels, A storage area disposed at a position at an end of the travel path for storing the workpiece transported by the transport robot, A working facility including a plurality of working areas disposed around the transport area and including a working robot that performs work on the workpiece and that work independently of each other.

2. In the working facility according to Claim 1, The transport robot transports a pallet on which the workpiece is placed, The storage area is a working facility including a dispensing robot for placing the workpiece on the pallet.

3. In the working facility according to Claim 1, The working facility further includes a loading area disposed at a position at an end of the travel path opposite to the storage area for unloading the workpiece on which the work has been completed.

4. In the working facility according to Claim 2, The working area further includes a holding robot for holding the workpiece together with the pallet, The transport robot is a working facility that receives the pallet from the storage area and delivers it to the holding robot.

5. In the working facility according to Claim 1, The plurality of working areas are disposed with the travel path therebetween.

6. In the working facility according to any one of Claims 1 to 5, The workpiece includes parts and an object to which the parts are to be attached, The working facility further includes a second transport robot having an arm for supporting the object and transporting the object between the storage area and the working area, and further includes a second transport area located above the transport area, The transport robot is a working facility that transports the parts between the storage area and the working area.

7. In the working facility according to Claim 6, The second transport area further includes a second travel path on which the second transport robot travels.

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